CA2651124A1 - Systeme de commande d'une prothese passive de l'articulation du genou a amortissement reglable - Google Patents

Systeme de commande d'une prothese passive de l'articulation du genou a amortissement reglable Download PDF

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Publication number
CA2651124A1
CA2651124A1 CA002651124A CA2651124A CA2651124A1 CA 2651124 A1 CA2651124 A1 CA 2651124A1 CA 002651124 A CA002651124 A CA 002651124A CA 2651124 A CA2651124 A CA 2651124A CA 2651124 A1 CA2651124 A1 CA 2651124A1
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Canada
Prior art keywords
control
damping
flexion
prosthetic
phase
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CA002651124A
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English (en)
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CA2651124C (fr
Inventor
Martin Pusch
Sven Zarling
Herman Boiten
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Otto Bock Healthcare GmbH
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Individual
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Publication of CA2651124A1 publication Critical patent/CA2651124A1/fr
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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2/70—Operating or control means electrical
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/60—Artificial legs or feet or parts thereof
    • A61F2/64—Knee joints
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2002/5016—Prostheses not implantable in the body adjustable
    • A61F2002/5033—Prostheses not implantable in the body adjustable for adjusting damping
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2002/5072—Prostheses not implantable in the body having spring elements
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/60—Artificial legs or feet or parts thereof
    • A61F2002/607—Lower legs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2002/6854—Operating or control means for locking or unlocking a joint
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2/70—Operating or control means electrical
    • A61F2002/704—Operating or control means electrical computer-controlled, e.g. robotic control
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
    • A61F2002/7615—Measuring means
    • A61F2002/7625—Measuring means for measuring angular position
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
    • A61F2002/7615—Measuring means
    • A61F2002/7635—Measuring means for measuring force, pressure or mechanical tension
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
    • A61F2002/7615—Measuring means
    • A61F2002/764—Measuring means for measuring acceleration
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
    • A61F2002/7615—Measuring means
    • A61F2002/7645—Measuring means for measuring torque, e.g. hinge or turning moment, moment of force
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
    • A61F2002/7615—Measuring means
    • A61F2002/765—Measuring means for measuring time or frequency
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop

Landscapes

  • Health & Medical Sciences (AREA)
  • Transplantation (AREA)
  • Vascular Medicine (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Veterinary Medicine (AREA)
  • Cardiology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Prostheses (AREA)
  • Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
  • Materials For Medical Uses (AREA)

Abstract

L'invention concerne un système de commande d'une prothèse passive de l'articulation du genou à amortissement réglable dans le sens de la flexion et dans le sens de l'extension, qui permet d'adapter un appareil prothétique composé d'une tige de jambe et d'un pied artificiel fixés à cette prothèse de l'articulation du genou, afin que cet appareil permette de monter un escalier. Selon ledit système, un faible moment de soulèvement du pied prothétique est détecté; lors d'une phase de soulèvement, l'amortissement de flexion est réduit en dessous d'un niveau approprié pour marcher sur le plat et, lors d'une phase de pose et d'étirement de la hanche, l'amortissement de flexion est augmenté de manière décalée dans le temps au-dessus d'un niveau d'amortissement d'un système de commande de phase d'élan permettant de marcher sur le plat.
CA2651124A 2006-05-09 2007-05-08 Systeme de commande d'une prothese passive de l'articulation du genou a amortissement reglable Active CA2651124C (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102006021802A DE102006021802A1 (de) 2006-05-09 2006-05-09 Steuerung eines passiven Prothesenkniegelenkes mit verstellbarer Dämpfung
DE102006021802.7 2006-05-09
PCT/DE2007/000841 WO2007128299A1 (fr) 2006-05-09 2007-05-08 Système de commande d'une prothèse passive de l'articulation du genou à amortissement réglable

Publications (2)

Publication Number Publication Date
CA2651124A1 true CA2651124A1 (fr) 2007-11-15
CA2651124C CA2651124C (fr) 2015-01-20

Family

ID=38510309

Family Applications (1)

Application Number Title Priority Date Filing Date
CA2651124A Active CA2651124C (fr) 2006-05-09 2007-05-08 Systeme de commande d'une prothese passive de l'articulation du genou a amortissement reglable

Country Status (11)

Country Link
US (4) US7731759B2 (fr)
EP (1) EP2015712B1 (fr)
JP (1) JP4718635B2 (fr)
CN (1) CN101453963B (fr)
AT (1) ATE476943T1 (fr)
CA (1) CA2651124C (fr)
DE (2) DE102006021802A1 (fr)
ES (1) ES2349878T3 (fr)
RU (1) RU2404730C2 (fr)
TW (1) TWI386194B (fr)
WO (1) WO2007128299A1 (fr)

Cited By (1)

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US20100305716A1 (en) * 2007-11-07 2010-12-02 Otto Bock Healthcare Gmbh Method for controlling an orthopedic joint

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DE102006021802A1 (de) 2006-05-09 2007-11-15 Otto Bock Healthcare Ip Gmbh & Co. Kg Steuerung eines passiven Prothesenkniegelenkes mit verstellbarer Dämpfung
WO2008080232A1 (fr) 2007-01-05 2008-07-10 Victhom Human Bionics Inc. Mécanisme actif à couple élevé pour dispositifs orthétiques et/ou prothétiques
US8435309B2 (en) * 2007-01-05 2013-05-07 Victhom Human Bionics Joint actuation mechanism for a prosthetic and/or orthotic device having a compliant transmission
US10842653B2 (en) 2007-09-19 2020-11-24 Ability Dynamics, Llc Vacuum system for a prosthetic foot
JP5119440B2 (ja) * 2007-12-26 2013-01-16 財団法人ヒューマンサイエンス振興財団 股関節及び膝関節自動股義足
JP5213682B2 (ja) * 2008-12-17 2013-06-19 本田技研工業株式会社 体重支持装置
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DE102009052893A1 (de) 2009-11-13 2011-05-19 Otto Bock Healthcare Products Gmbh Verfahren und Vorrichtung zur Steuerung eines künstlichen orthetischen oder prothetischen Gelenkes
DE102009052888A1 (de) 2009-11-13 2011-05-19 Otto Bock Healthcare Products Gmbh Verfahren und Vorrichtung zur Steuerung eines künstlichen orthetischen oder prothetischen Gelenkes
DE102009052894A1 (de) 2009-11-13 2011-06-01 Otto Bock Healthcare Products Gmbh Verfahren und Vorrichtung zur Steuerung eines künstlichen orthetischen oder prothetischen Gelenkes
DE102009052890A1 (de) 2009-11-13 2011-05-19 Otto Bock Healthcare Products Gmbh Vorrichtung und Verfahren zur Steuerung eines künstlichen orthetischen oder prothetischen Gelenkes
DE102009052895A1 (de) 2009-11-13 2011-05-19 Otto Bock Healthcare Products Gmbh Verfahren und Vorrichtung zur Steuerung eines künstlichen orthetischen oder prothetischen Kniegelenkes
DE102010031723B4 (de) * 2010-07-21 2012-08-02 Otto Bock Healthcare Gmbh Prothesenkniegelenk
KR101619551B1 (ko) 2010-12-06 2016-05-10 현대자동차주식회사 하지 착용식 로봇의 보행 장치
US9060884B2 (en) 2011-05-03 2015-06-23 Victhom Human Bionics Inc. Impedance simulating motion controller for orthotic and prosthetic applications
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USD733883S1 (en) 2011-05-31 2015-07-07 Ossur Hf Prosthetic knee
EP2713959B1 (fr) 2011-05-31 2015-03-18 Össur HF Prothèse de genou
CN103190912B (zh) * 2012-01-09 2014-12-10 上海理工大学 膝关节运动参数测试装置
US9149371B2 (en) 2012-04-05 2015-10-06 Ossur Hf Prosthetic knee
US10441439B2 (en) * 2012-05-15 2019-10-15 Vanderbilt University Stair ascent and descent control for powered lower limb devices
DE102013013810B3 (de) 2013-08-22 2015-02-19 Otto Bock Healthcare Products Gmbh Verfahren zur Steuerung eines künstlichen Orthesen- oder Prothesenkniegelenkes
WO2015157723A1 (fr) 2014-04-11 2015-10-15 össur hf Pied prothétique doté d'éléments flexibles amovibles
CN104207865B (zh) * 2014-09-18 2016-01-13 北京大学 一种电机驱动小腿假肢的阻尼控制方法
DE102015106391B4 (de) 2015-04-24 2020-07-09 Otto Bock Healthcare Products Gmbh Verfahren zur Steuerung eines künstlichen Kniegelenkes
DE102015106390B4 (de) 2015-04-24 2016-11-10 Otto Bock Healthcare Products Gmbh Verfahren zur Steuerung einer Dämpfungsveränderung
DE102015106389B4 (de) 2015-04-24 2016-11-10 Otto Bock Healthcare Products Gmbh Verfahren zur Steuerung eines künstlichen Kniegelenkes
DE102015106392B4 (de) 2015-04-24 2020-07-09 Otto Bock Healthcare Products Gmbh Verfahren zur Steuerung der Standphasendämpfung eines künstlichen Kniegelenks
DE102015106384B4 (de) 2015-04-24 2017-09-07 Otto Bock Healthcare Products Gmbh Verfahren zur Steuerung einer Dämpfungsveränderung bei einem künstlichen Gelenk
DE102015107783A1 (de) * 2015-05-18 2016-11-24 Inventus Engineering Gmbh Prothesen- oder Exoskelettkomponente, Prothesen- oder Exoskelett und Verfahren
DE102019115098A1 (de) * 2019-06-05 2020-12-10 Otto Bock Healthcare Products Gmbh Verfahren zum Steuern eines künstlichen Kniegelenks
CN111805571B (zh) * 2020-07-17 2022-02-15 北京理工大学 一种含弹性储能与释能装置的仿生多体节机构
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DE102020004336A1 (de) 2020-07-20 2022-01-20 Otto Bock Healthcare Products Gmbh Verfahren zur Steuerung einer Prothese oder Orthese
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EP2015712A1 (fr) 2009-01-21
US20160030203A1 (en) 2016-02-04
TW200808279A (en) 2008-02-16
US9248031B2 (en) 2016-02-02
JP4718635B2 (ja) 2011-07-06
WO2007128299A1 (fr) 2007-11-15
CA2651124C (fr) 2015-01-20
RU2404730C2 (ru) 2010-11-27
CN101453963B (zh) 2012-04-18
US20100228360A1 (en) 2010-09-09
CN101453963A (zh) 2009-06-10
US20190274849A1 (en) 2019-09-12
DE102006021802A1 (de) 2007-11-15
TWI386194B (zh) 2013-02-21
ES2349878T3 (es) 2011-01-12
US10265198B2 (en) 2019-04-23
EP2015712B1 (fr) 2010-08-11
US7731759B2 (en) 2010-06-08
RU2008143732A (ru) 2010-06-20
DE502007004728D1 (de) 2010-09-23
US11571316B2 (en) 2023-02-07
ATE476943T1 (de) 2010-08-15
JP2009536050A (ja) 2009-10-08
US20090171468A1 (en) 2009-07-02

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